Package org.robwork.sdurw

Class Transform2Df

java.lang.Object

org.robwork.sdurw.Transform2Df

public class Transform2Df
extends java.lang.Object

A 4x4 homogeneous transform matrix \mathbf{T}\in SE(3)

\mathbf{T} = \left[ \begin{array}{cc} \mathbf{R} \mathbf{d} \\ \begin{array}{ccc}0 0 0\end{array} 1 \end{array} \right]

Constructor Summary

Constructors

Constructor	Description
Transform2Df()	Default Constructor. Initializes with 0 translation and Identity matrix as rotation
Transform2Df(long cPtr, boolean cMemoryOwn)
Transform2Df(Vector2Df d, Rotation2Df R)	Constructs a homogeneous transform

Method Summary

Modifier and Type	Method	Description
void	delete()
float	get(long row, long column)
static long	getCPtr(Transform2Df obj)
static Transform2Df	identity()	Constructs the identity transform
Transform2Df	multiply(Transform2Df bTc)	Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}
Vector2Df	multiply(Vector2Df bP)	Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming point \mathbf{p} from frame b to frame a
Vector2Df	P()	Gets the position part \mathbf{d} from \mathbf{T}
Rotation2Df	R()	Gets the rotation part \mathbf{R} from \mathbf{T}
void	set(long row, long column, float d)
java.lang.String	toString()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail

Transform2Df

public Transform2Df(long cPtr,
                    boolean cMemoryOwn)

Transform2Df

public Transform2Df()

Default Constructor.

Initializes with 0 translation and Identity matrix as rotation

Transform2Df

public Transform2Df(Vector2Df d,
                    Rotation2Df R)

Constructs a homogeneous transform

Parameters:

d - [in] \mathbf{d} A 3x1 translation vector

R - [in] \mathbf{R} A 3x3 rotation matrix

Method Detail

getCPtr

public static long getCPtr(Transform2Df obj)

delete

public void delete()

identity

public static Transform2Df identity()

Constructs the identity transform

Returns:

the identity transform

\mathbf{T} = \left[ \begin{array}{ccc} 1 0 0 \\ 0 1 0 \\ 0 0 1 \\ \end{array} \right]

multiply

public Transform2Df multiply(Transform2Df bTc)

Calculates \robabx{a}{c}{\mathbf{T}} = \robabx{a}{b}{\mathbf{T}} \robabx{b}{c}{\mathbf{T}}

Parameters:

bTc - [in] \robabx{b}{c}{\mathbf{T}}

Returns:

\robabx{a}{c}{\mathbf{T}}

\robabx{a}{c}{\mathbf{T}} = \left[ \begin{array}{cc} \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{R}} \robabx{a}{b}{\mathbf{d}} + \robabx{a}{b}{\mathbf{R}}\robabx{b}{c}{\mathbf{d}} \\ \begin{array}{ccc} 0 0 0 \end{array} 1 \end{array} \right]

multiply

public Vector2Df multiply(Vector2Df bP)

Calculates \robax{a}{\mathbf{p}} = \robabx{a}{b}{\mathbf{T}} \robax{b}{\mathbf{p}} thus transforming
point \mathbf{p} from frame b to frame a

Parameters:

bP - [in] \robax{b}{\mathbf{p}}

Returns:

\robax{a}{\mathbf{p}}

R

public Rotation2Df R()

Gets the rotation part \mathbf{R} from \mathbf{T}

Returns:

\mathbf{R}

P

public Vector2Df P()

Gets the position part \mathbf{d} from \mathbf{T}

Returns:

\mathbf{d}

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

get

public float get(long row,
                 long column)

set

public void set(long row,
                long column,
                float d)